Unmanned aerial vehicle flight control program modeling and verification method based on time automaton

Abstract

The invention discloses an unmanned aerial vehicle flight control program modeling and verification method based on a time automaton. The method comprises the steps of dividing the command interactionprocess of an unmanned aerial vehicle flight control program into a main control process, message transmission and a wireless channel, and defining the state and transition characteristics in a timeautomaton model, establishing a time automaton model of the unmanned aerial vehicle flight control program, performing state space search by using a formal verification tool, and verifying that the time sequence of the operation process of the unmanned aerial vehicle flight control program is correct, aiming at the interference of the working environment of the unmanned aerial vehicle, defining interference factors in the state and transition characteristics, regenerating an incidence matrix of the time automaton model, and verifying the boundness of the model, i.e., confirming the timelinessof the execution of the flight control program of the unmanned aerial vehicle within limited time, and analyzing the communication time consumption based on probability statistics, and verifying thatthe operation process of the flight control program of the unmanned aerial vehicle can be completed within preset time. Thus, the robustness of the unmanned aerial vehicle in a complex environment canbe improved.

Description

technical field [0001] The invention relates to a modeling and verification method of a UAV flight control program based on a time automaton, belonging to the technical field of UAV automatic control. Background technique [0002] In recent years, drones have been widely used in application scenarios such as environmental monitoring, weather detection, and infrastructure operation and maintenance. With the increasingly complex application environment and the increasingly diverse tasks of UAVs, the remote control of UAVs and the formation coordination of multi-UAVs based on wireless communication have become important development trends. However, factors such as the uncertainty of aerodynamic parameters and the failure of the actuator will seriously reduce the control accuracy of the UAV. Due to the openness of wireless communication, there are also influencing factors such as electromagnetic environment interference. [0003] In order to improve the UAV's robustness to unkn...

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Problems solved by technology

However, this patent does not consider the wireless communication in the control process, and it cannot be fully applied to the scene where the UAV has electromagnetic interference on the wireless channel, and it does not consider factors such as the uncertainty of aerodynamic parameters and the intermittent failure of the actuator.

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